CN109278716A - A kind of intelligent automobile washer device people - Google Patents
A kind of intelligent automobile washer device people Download PDFInfo
- Publication number
- CN109278716A CN109278716A CN201811200943.3A CN201811200943A CN109278716A CN 109278716 A CN109278716 A CN 109278716A CN 201811200943 A CN201811200943 A CN 201811200943A CN 109278716 A CN109278716 A CN 109278716A
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- stock
- motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The present invention relates to a kind of intelligent automobile washer device people, including pressurized tank, air gauge, chassis driven wheel, water outlet, air inlet, water inlet, gripper rinse bath, upper spider, wipe sailor's claw slot, second stock, 5th cradle head, rack bar, rack gear servo motor, rack bar outer cylinder, second cradle head, 4th stock, third cradle head, gripper executive device, first cradle head, dropping device, first stock, 4th cradle head, movable suction arm, sucker, pressure sensor, electro-optical distance measurement sensor, lifting slider, calutron, chassis driving wheel, chassis stepper motor, chassis, lifting screw, travel switch, lifting arm, the present invention has the mechanical arm of Telescopic movable that gripper executive device is driven to clean automobile using close with shape size with luggage case, and the self-control system using intelligence Control simplicity significantly of uniting user vehicle cleans the maintenance of its automobile, saves the time of user vehicle, the place of carwash, the efficiency of carwash.
Description
Technical field
The present invention relates to automobile washing technical field, in particular to a kind of intelligent automobile washer device people.
Background technique
As automobile enters the quick universal of family, private savings automobile rapidly increases, the car owning amount in city will sharply on
It rises.The demand of keeping a public place clean of automobile will also steeply rise, then the cleaning way of traditional automobile or systematic large machines are washed
The owning amount of vehicle mode can also rise immediately.Two problems will be will cause: requiring more mating places, equipment and work
People, systematic large machines washing bay will need bigger place；Traditional car-washing method be human hand held hydraulic giant to automobile into
Row cleaning operation, speed is slow, takes time and effort.The equipment that systematic large machines washing bay needs is also more and big.So being badly in need of
A miniaturization, family oriented, intelligent carwash robot, satisfaction can be automatic right in oneself community parking field or garage
The robot that automobile is cleaned.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of intelligent automobile washer device people, uses shape similar to luggage case size, wash
Vehicle function uses intelligentized electric-control system, and sensor detection and automatic identification are foldable to assist, telescopic machinery carwash
Arm is automatically performed washing function.Change significantly in this way user vehicle to the mode of automobile kept a public place clean, save trouble, be time saving, is laborsaving.
Technical solution used in the present invention is: a kind of intelligent automobile washer device people, including pressurized tank, air gauge, chassis from
Driving wheel, water outlet, air inlet, water inlet, gripper rinse bath, upper spider, wipe sailor's claw slot, the second stock, the 5th cradle head,
Rack bar, rack gear servo motor, rack bar outer cylinder, the second cradle head, the 4th stock, third cradle head, gripper execute dress
It sets, the first cradle head, dropping device, the first stock, the 4th cradle head, movable suction arm, sucker, pressure sensor, light
Electric distance measuring sensor, lifting slider, calutron, chassis driving wheel, chassis stepper motor, chassis, lifting screw, stroke are opened
Pass, lifting arm, lifting motor, sucking disc arm, high-pressure pump, electric cabinet, the 4th stock pass through the second cradle head and tooth
The rotation connection of bar outer cylinder；The rack bar is engaged with the gear on servo motor motor shaft, and is mounted on rack bar outer cylinder
In；The servo motor is fixedly mounted on the rear end of rack bar outer cylinder；Second stock by the 5th cradle head with
Rack bar rotation connection；Second stock is rotatablely connected by the first cradle head and the first stock；First stock passes through
4th cradle head and lifting slider are rotatablely connected；The lifting slider is engaged by internal screw thread with lifting screw；Institute
The lifting screw stated is mounted in two symmetrical lifting arms；Lifting motor, lifting motor work are installed behind the lifting arm
Lifting screw rotation is driven when making；The movable suction arm is mounted on sucking disc arm by being hinged, and sucking disc arm is slidably installed
On lifting arm；The outer end of the movable suction arm and sucking disc arm is installed by sucker respectively；The pressure sensor is pacified respectively
On movable suction arm and sucking disc arm on the inside of sucker；The electro-optical distance measurement sensor is separately mounted to movable suction arm and suction
On disk arm on the inside of pressure sensor, the calutron be mounted on the back side of sucking disc arm and with movable suction arm adsorbed close；
Stepper motor is installed in lower part two sides before the chassis respectively, distinguishes installation chassis driving wheel on stepper motor；Behind chassis
Distinguish installation chassis driven wheel in two angles of face lower part；The pressurized tank is mounted on above chassis, and pressurized tank upper end is installed into
The mouth of a river and air inlet, air inlet are connected by pipeline with high-pressure pump；When the water inlet is built-in with one-way seal valve water filling
It can be connected with external running water pipe；Air gauge is installed at the middle part of pressurized tank, and water outlet is installed in the lower part of pressurized tank, and water outlet passes through
Hose is connected to the upper end water inlet of annular sprinkler head；The high-pressure pump is mounted on chassis；Stroke is housed on the inside of lifting arm
Switch；Upper spider is installed on lifting arm top, installation electric cabinet and built-in chargeable aluminum cell in upper spider lower part；Described is upper
Rack is interior respectively to be equipped with gripper rinse bath and wipes sailor's claw slot.
Further, a kind of intelligent automobile washer device people, the gripper executive device includes annular sprinkler head, clear
Wash motor, plate rail, sponge disc, vision camera, cam, stepper motor, movable claw, the 5th stock water-absorbing sponge, the annular
Sprinkler head is vertically installed at the 5th stock lower part；Movable claw is rotatably installed in the lower part of the 5th stock, in movable claw
Taper end and cam engagement, cam are mounted on the motor shaft of stepper motor；The stepper motor is mounted on the 5th stock；Institute
The sponge disc stated is connected on plate rail, and plate rail is mounted on cleaning motor shaft；5th stock passes through third cradle head
It is rotatablely connected with the 4th stock.
Further, a kind of intelligent automobile washer device people, the dropping device part include: activity fork, straight line
Motor screw, linear motor transmission gear, linear motor, linear motor bracket, the activity fork are slidably mounted on straight-line electric
On machine support, activity fork cooperates with linear motor screw rod, and linear motor transmission gear is separately mounted to linear motor screw rod and straight
On line motor, the linear motor is mounted on linear motor bracket.
Further, a kind of intelligent automobile washer device people, cleaning module include: cleaning motor, plate rail, sponge disc；
Water suction module includes: cleaning motor, plate rail, water-absorbing sponge.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that small in size, occupied area of the invention
It is small, for there is the user of private car to use in oneself stopping pad, automobile information and identification automobile body are acquired using vision camera
Part, intelligentized automatic control system has automatic planning travel route, and it is automatic close to target vehicle, it is classified using three
Steering engine joint and the circumference steering engine joints of two classifications reach multiaxis, and multi-angle conversion keeps mechanical arm conduct removable without dead angle,
It is scalable that gripper executive device has reached cleaning target vehicle, cleaning can be made to do more careful.
Detailed description of the invention
Fig. 1, Fig. 2 are integral installation distribution structure schematic diagram of the invention.
Fig. 3, Fig. 4 are respectively upper frame portion structural schematic diagram and partial side elevation view of the invention.
Fig. 5 is sucking disc arm structural schematic diagram.
Fig. 6 is the general assembly schematic diagram of gripper executive device of the invention.
Fig. 7, Fig. 8 are respectively cleaning module and water suction module diagram.
Fig. 9 is the scheme of installation of gripper executive device of the invention.
Drawing reference numeral: 1- pressurized tank；2- air gauge；The chassis 3- driven wheel；4- water outlet；5- air inlet；6- water inlet；7-
Gripper rinse bath；8- upper spider；9- wipes sailor's claw slot；The second stock of 10-；The 5th cradle head of 11-；12- rack bar；13- is watched
Take motor；14- rack bar outer cylinder；The second cradle head of 15-；The 4th stock of 16-；17- third cradle head；18- gripper holds dress
It sets；The first cradle head of 19-；20- dropping device；The first stock of 21-；The 4th cradle head of 22-；23- movable suction arm；24-
Sucker；25- pressure sensor；26- electro-optical distance measurement sensor；27- lifting slider；28- calutron；The chassis 29- driving wheel；
The chassis 30- stepper motor；The chassis 31-；32- lifting screw；33- travel switch；34- lifting arm；35- lifting motor；36- sucker
Arm；37- high-pressure pump；38- electric cabinet；101- annular sprinkler head；102- cleans motor；103- plate rail；104- sponge disc；105-
Vision camera；106- cam；107- stepper motor；108- movable claw；The 5th stock of 109-；110- water-absorbing sponge；201- activity
Fork；202- linear motor screw rod；203- linear motor transmission gear；204- linear motor；205- linear motor bracket.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, a kind of intelligent automobile washer device people, including pressure
Tank 1, chassis driven wheel 3, water outlet 4, air inlet 5, water inlet 6, gripper rinse bath 7, upper spider 8, wipes sailor's pawl at air gauge 2
Slot 9, the second stock 10, the 5th cradle head 11, rack bar 12, rack gear servo motor 13, the rotation of rack bar outer cylinder 14, second are closed
Save the 15, the 4th stock 16, third cradle head 17, gripper executive device 18, the first cradle head 19, dropping device 20, first
Stock 21, the 4th cradle head 22, movable suction arm 23, sucker 24, pressure sensor 25, electro-optical distance measurement sensor 26, lifting
Sliding block 27, chassis driving wheel 29, chassis stepper motor 30, chassis 31, lifting screw 32, travel switch 33, rises calutron 28
Arm 34, lifting motor 35, sucking disc arm 36, high-pressure pump 37, electric cabinet 38 drop, and the 4th stock 16 is closed by the second rotation
Section 15 is rotatablely connected with rack bar outer cylinder 14；The rack bar 12 is engaged with the gear on 13 motor shaft of servo motor, and is pacified
In rack bar outer cylinder 14；The servo motor 13 is fixedly mounted on the rear end of rack bar outer cylinder 14；Described second is long
Bar 10 is rotatablely connected by the 5th cradle head 11 with rack bar 12；Second stock 10 is long by the first cradle head 19 and first
Bar 21 is rotatablely connected；First stock 21 is rotatablely connected by the 4th cradle head 22 with lifting slider 27；The liter
Drop sliding block 27 is engaged by internal screw thread with lifting screw 32；The lifting screw 32 is mounted on two symmetrical lifting arms
In 34；Lifting motor 35 is installed behind the lifting arm 34, drives lifting screw 32 to rotate when lifting motor 35 works；It is described
Movable suction arm 23 be mounted on sucking disc arm 36 by being hinged, sucking disc arm 36 is slidably mounted on lifting arm 34；Described
The outer end of movable suction arm 23 and sucking disc arm 36 is installed by sucker 24 respectively；The pressure sensor 25 is separately mounted to movable suction
24 inside of sucker on disk arm 23 and sucking disc arm 36；The electro-optical distance measurement sensor 26 is separately mounted to movable suction arm 23 and inhales
The inside of pressure sensor 25 on disk arm 36, the calutron 28 be mounted on the back side of sucking disc arm 36 and with movable suction arm 23
Adsorbed close；Stepper motor 30 is installed in the lower part two sides of 31 front of chassis respectively, installs bottom respectively on stepper motor 30
Disk driving wheel 29；Distinguish installation chassis driven wheel 3 in two angles of 31 rear lower portion of chassis；The pressurized tank 1 is mounted on chassis
Above 31, water inlet 6 and air inlet 5 are installed in 1 upper end of pressurized tank, and air inlet 5 is connected by pipeline with high-pressure pump 37；Described
Water inlet 6 can be connected when being built-in with one-way seal valve water filling with external running water pipe；The middle part of pressurized tank 1 is installed by air gauge 2, pressure
Water outlet 4 is installed in the lower part of power tank 1, and water outlet 4 is connected to the upper end water inlet of annular sprinkler head 101 by hose；The height
Compression pump 37 is mounted on chassis 31；Travel switch 33 is housed on the inside of lifting arm 34；Upper spider 8 is installed on 34 top of lifting arm,
8 lower part of upper spider is installed by electric cabinet 38 and built-in chargeable aluminum cell；The upper spider 8 is interior respectively to be equipped with gripper rinse bath
7 and wipe sailor's claw slot 9.
Further, a kind of intelligent automobile washer device people, the gripper executive device 18 include annular sprinkler head
101, clean motor 102, plate rail 103, sponge disc 104, vision camera 105, cam 106, stepper motor 107, movable claw 108,
5th stock, 109 water-absorbing sponge 110, the annular sprinkler head 101 are vertically installed at 109 lower part of the 5th stock；It is living
Pawl 108 is rotatably installed in the lower part of the 5th stock 109, cooperates in the taper end and cam 106 of movable claw 108, cam 106 is installed
On the motor shaft of stepper motor 107；The stepper motor 107 is mounted on the 5th stock 109；The sponge disc 104
It is connected on plate rail 103, plate rail 103 is mounted on cleaning 102 axis of motor；5th stock 109 is rotated by third and is closed
Section 17 and the 4th stock 16 are rotatablely connected.
Further, a kind of intelligent automobile washer device people, 20 part of dropping device include: activity fork 201,
Linear motor screw rod 202, linear motor transmission gear 203, linear motor 204, linear motor bracket 205, the activity fork
201 are slidably mounted on linear motor bracket 205, and activity fork 201 cooperates with linear motor screw rod 202, linear motor driving cog
Wheel 203 is separately mounted on linear motor screw rod 202 and linear motor 204, and the linear motor 204 is mounted on linear motor
On bracket 205.
Further, a kind of intelligent automobile washer device people, cleaning module include: cleaning motor 102, plate rail 103, sea
Continuous disk 104；Water suction module includes: cleaning motor 102, plate rail 103, water-absorbing sponge 110.
Working principle of the present invention: the present invention acquires the position of object vehicle, vehicle shape, license board information using vision camera 105,
Ranging of the electro-optical distance measurement sensor 26 to object vehicle, information are reached after electric cabinet 38 is handled and are identified, determine the position of object vehicle
It sets；Drive carwash robot close to object vehicle, sucker 24 is adsorbed on automobile side, and at this moment pressure sensor 25 is pressurized, pressure
Sensor 25 issues signal to electric cabinet 38, indicates the 24 stabilized carwash robot of adsorbed target automobile side vehicle body of sucker, so
Electric cabinet 38 issues the purge signal to object vehicle according to the outer dimension and vehicle of object vehicle afterwards, and lifting motor 35 receives
Signal moves lifting slider 27；Cleaning module includes: cleaning motor 102, plate rail 103, sponge disc 104；Water suction module include:
Clean motor 102, plate rail 103, water-absorbing sponge 110；First cradle head 19, the second cradle head 15, third cradle head 17,
4th cradle head 22, the linkage of the 5th cradle head 11, drive gripper executive device 18 to clamp cleaning module alignment target automobile,
102 high-speed rotation of cleaning motor of cleaning module drives plate rail 103, the rotation cleaning object vehicle of sponge disc 104.Work as cleaning module
After the area certain to object vehicle surface clean, electric cabinet 38 issues the cleaning to cleaning module and instructs, gripper executive device
18 cleaning modules protrude into silt cleaning contamination in gripper rinse bath 7 and be deposited on cleaning module, gripper after cleaning
Executive device 18 continues to clamp cleaning of the cleaning module to object vehicle, and gripper executes dress after cleaning to object vehicle
It sets 18 clamping cleaning modules to be put into gripper rinse bath 7, gripper executive device 18 opens movable claw 108, while dropping device 20
Interior activity fork 201 blocks cleaning module, and cleaning module is unloaded, and gripper executive device 18 leaves gripper rinse bath 7, and automatic
It extends in wiping sailor's claw slot 9, stepper motor 107 rotates lower cam 106 and is servo-actuated, and makes the clamping of movable claw 108 water suction module from wiping water
It is taken out in gripper slot 9, dries that object vehicle is water stain, complete all cleaning procedures of object vehicle.
Claims (4)
1. a kind of intelligent automobile washer device people, including pressurized tank (1), air gauge (2), chassis driven wheel (3), water outlet (4), air inlet
Mouth (5), gripper rinse bath (7), upper spider (8), wipes sailor's claw slot (9), the second stock (10), the 5th rotation pass at water inlet (6)
Save (11), rack bar (12), rack gear servo motor (13), rack bar outer cylinder (14), the second cradle head (15), the 4th stock
(16), third cradle head (17), gripper executive device (18), the first cradle head (19), dropping device (20), the first stock
(21), the 4th cradle head (22), movable suction arm (23), sucker (24), pressure sensor (25), electro-optical distance measurement sensor
(26), lifting slider (27), calutron (28), chassis driving wheel (29), chassis stepper motor (30), chassis (31), lifting
Screw rod (32), travel switch (33), lifting arm (34), lifting motor (35), sucking disc arm (36), high-pressure pump (37), electric cabinet
(38), it is characterised in that: the 4th stock (16) is connected by the second cradle head (15) and rack bar outer cylinder (14) rotation
It connects；The rack bar (12) is engaged with the gear on servo motor (13) motor shaft, and it is inner to be mounted on rack bar outer cylinder (14)；
The servo motor (13) is fixedly mounted on the rear end of rack bar outer cylinder (14)；Second stock (10) passes through the 5th turn
Movable joint (11) and rack bar (12) are rotatablely connected；Second stock (10) passes through the first cradle head (19) and the first stock (21)
Rotation connection；First stock (21) is rotatablely connected by the 4th cradle head (22) and lifting slider (27)；Described
Lifting slider (27) is engaged by internal screw thread with lifting screw (32)；The lifting screw (32) is mounted on two symmetrically
Lifting arm (34) in；The lifting arm (34) installs lifting motor (35) below, drives and rises when lifting motor (35) works
Screw rod (32) rotation is dropped；The movable suction arm (23) is mounted on sucking disc arm (36) by being hinged, and sucking disc arm (36) is sliding
It is dynamic to be mounted on lifting arm (34)；The outer end of the movable suction arm (23) and sucking disc arm (36) is installed by sucker (24) respectively；
The pressure sensor (25) is separately mounted on movable suction arm (23) and sucking disc arm (36) on the inside of sucker (24)；Described
Electro-optical distance measurement sensor (26) is separately mounted on movable suction arm (23) and sucking disc arm (36) on the inside of pressure sensor (25), institute
The calutron (28) stated be mounted on the back side of sucking disc arm (36) and with movable suction arm (23) adsorbed close；The chassis
(31) the lower part two sides before are installed stepper motor (30) respectively, on stepper motor (30) respectively installation chassis driving wheel (29)；
Distinguish installation chassis driven wheel (3) in two angles of chassis (31) rear lower portion；The pressurized tank (1) is mounted on chassis (31)
Water inlet (6) and air inlet (5) are installed in face, pressurized tank (1) upper end, and air inlet (5) is connected by pipeline with high-pressure pump (37)；
The water inlet (6) can be connected when being built-in with one-way seal valve water filling with external running water pipe；It installs at the middle part of pressurized tank (1)
Water outlet (4) are installed in the lower part of air gauge (2), pressurized tank (1), and water outlet (4) is connected to annular sprinkler head (101) by hose
Upper end water inlet；The high-pressure pump (37) is mounted on chassis (31)；Travel switch (33) are housed on the inside of lifting arm (34)；
Upper spider (8) are installed on lifting arm (34) top, in upper spider (8) lower part installation electric cabinet (38) and built-in chargeable aluminium electricity
Pond；The upper spider (8) is interior respectively to be equipped with gripper rinse bath (7) and wipes sailor's claw slot (9).
2. a kind of intelligent automobile washer device people according to claim 1, it is characterised in that: the gripper executive device (18)
Including annular sprinkler head (101), cleaning motor (102), plate rail (103), sponge disc (104), vision camera (105), cam
(106), stepper motor (107), movable claw (108), the 5th stock (109) water-absorbing sponge (110), the annular sprinkler head
(101) it is vertically installed at the 5th described stock (109) lower part；Movable claw (108) is rotatably installed under the 5th stock (109)
Portion cooperates in the taper end of movable claw (108) and cam (106), and cam (106) is mounted on the motor shaft of stepper motor (107)；
The stepper motor (107) is mounted on the 5th stock (109)；The sponge disc (104) is connected on plate rail (103),
Plate rail (103) is mounted on cleaning motor (102) axis；5th stock (109) passes through third cradle head (17) and the
Four stocks (16) rotation connection.
3. a kind of intelligent automobile washer device people according to claim 1, it is characterised in that: described dropping device (20) part
It include: activity fork (201), linear motor screw rod (202), linear motor transmission gear (203), linear motor (204), straight-line electric
Machine support (205), the activity fork (201) are slidably mounted on linear motor bracket (205), activity fork (201) and straight line
Motor screw (202) cooperation, linear motor transmission gear (203) are separately mounted to linear motor screw rod (202) and linear motor
(204) on, the linear motor (204) is mounted on linear motor bracket (205).
4. a kind of intelligent automobile washer device people according to claim 1, it is characterised in that: cleaning module includes: cleaning motor
(102), plate rail (103), sponge disc (104)；Water suction module includes: cleaning motor (102), plate rail (103), water-absorbing sponge
(110)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811200943.3A CN109278716A (en) | 2018-10-16 | 2018-10-16 | A kind of intelligent automobile washer device people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811200943.3A CN109278716A (en) | 2018-10-16 | 2018-10-16 | A kind of intelligent automobile washer device people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109278716A true CN109278716A (en) | 2019-01-29 |
Family
ID=65176966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201811200943.3A Withdrawn CN109278716A (en) | 2018-10-16 | 2018-10-16 | A kind of intelligent automobile washer device people |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696780A (en) * | 2019-09-20 | 2020-01-17 | 安徽工程大学 | Car washing robot |
| CN110758335A (en) * | 2019-09-25 | 2020-02-07 | 珠海六和节能投资有限公司 | Flushing device for cleaning vehicle and using method thereof |
| CN111634265A (en) * | 2019-03-01 | 2020-09-08 | 上海弦力清洗设备有限公司 | Follow-up cleaning equipment |
| CN113984401A (en) * | 2021-08-27 | 2022-01-28 | 吉林大学 | Automobile intelligent detection execution system and method based on three-dimensional information |
| CN114185350A (en) * | 2021-12-06 | 2022-03-15 | 浙江驿公里智能科技有限公司 | Path control method and system of connecting shaft car washing equipment based on angle encoder |
| WO2024017397A1 (en) * | 2022-11-17 | 2024-01-25 | 陕西昂车郡电子科技有限公司 | Intelligent car washing robot |
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Application publication date: 20190129 |